3-axis Inertial Measurement Unit
AU7684N1x00/TAG300N1x00/TAG289N1x00

Support Manual for Leveling Mode

AU7684 (PCB Type)TAG289 (Compact Case Type)TAG300 (Waterproof Case Type)TAMAGAWA SEIKI CO., LTD.
TAMAGAWA TRADING CO., LTD

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode

1

Revision History
Rev Date

Page

Reason of Correction

1

2019.09.03－

The document is released.

2

2019.09.12

P10-12

Section 3 is revised for the new content.

3

2019.11.15

P4

Introduction contents added.

P5

IMU Simulator vs InsMon added.

P6-P19Section 1-4 Section# reviewed.

P16

Section 3.3 Note added

P17

Section 4 Dimension of GPS Module added

P20-P27

Section 5 Command List added－

The document is revised for its exclusive usage of

４2020.1.10

leveling operation mode.
5

2020.03.12－

The new product “TAG289” is added.

６2021.08.21

P18

Change contact information .

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode2

Table of Content
Introduction

4

IMU Simulator vs InsMon

5

Connection to PC

61

IMU Simulator Installation / Setup

7

2

InsMon Setup

11

3Interface Cable

14

3.1 AU7684 Harness connection

14

3.2 TAG300 Harness connection

15

3.3 TAG289 Pin Assignment

16

3.4 Optional Interface Cable

17

External GPS Module

18

4.1 Applicable GPS Module18

4.2 How to connect AU7684

19

4.3 How to connect TAG300

20

4.4 How to connect TAG289

21Command List

22

4

5

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode3

Introduction
This manual provides the operating procedures and cautions for the small 3-axis Inertial
Measurement Unit (IMU) AU7684, TAG300 and TAG289 Leveling operation mode.
Please read this document along with the product specification before using the device.
Regarding GNSS/INS/VS Mode, please refer to the document “Support Manual(GNSS/INS/VS Mode)”.
ContentsAU7684N1x00/TAG300N1x00/TAG289N1x00, which are an Inertial Measurement
Units (IMU) incorporating 3-axis MEMS gyroscopes and 3-axis integrated MEMS
accelerometer. The device measures acceleration and angular rate along the X, Y, & Z
axes of the sensor, attitude and heading angle.

EU8937 and EU8940 Interface Cable (sold separately)
There are 2 types of interface cable for each model. The one is loose wire type and theother is connector type for external GPS module.
TAG289 Interface cable is attached to the product. You do not need to buy a cable separately.

External GPS Module (KGM-810GRB1_PS_917/Position) (available in market)
Regarding the inquiries and purchases, please refer to section 4 in this manual.
The AU7684 series and TAG300 series can output GPS information (latitude,
longitude, altitude, direction, speed, UTC time, etc.) by connecting a GPS module.
The information is also utilized for the calculation to reduce attitude and heading
errors.

Note: if you need to use USB, please use RS232C-USB conversion cable available in themarket. Also, power source of 8-28 VDC should be prepared by customer.
Reference Documents


SPC015354W00_R0001 Specification AU7684 Series



SPC015456W00 Specification TAG300 Series



SPC016342W00 Specification TAG289 Series

Support Manual (GNSS/INS/VS Mode)

Downloads (URL: http://mems.tamagawa-seiki.com/en/download/)

IMU Simulator Software

InsMon Software

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode

4

IMU Simulator vs InsMon
Two types of software (IMU simulator & InsMon) are provided for free. The features andfunctions are listed in the table below. Please make use of them according to the usage.
The operation procedure is written in the following pages.
IMU Simulator

InsMonCompatibility with PC: Good

Compatibility with PC: Very Good

The graphics function is heavy and puts a

Software is light and does not put a burden

burden on the PC. Some PCs do not workon the PC. Most of PCs are compatible.

due to compatibility.
Multiple Setup: Not available

Multiple Setup: Good

Only one IMU can be measured.

Multiple IMUs can be measured simultaneously.

Numerical Values Display: Good

Numerical Values Display: Good

2D Display: Good

2D Display: Good

Graph Display: Good

Graph Display: Not available

Communication Cycle Setting: Good

Communication cycle setting: Very Good

Only 3 settings: 200Hz, 100Hz, 50Hz

User can specify the values as desired.

Data Acquisition: Good

Data Acquisition: Very Good

Data acquisition is conducted for at most

There is no limitation on logging time.

6 hours. Acquired data will be lost if theAcquired data is saved in BIN file, so it isPC freezes during data acquisition.

not heavy. If the PC freezes during dataacquisition, the acquired data is not lost.

Offset Cancel: Good

Offset Cancel: Very Good

The period of offset cancel cannot be

The period of offset cancel can be changed.

changed.
Send Command: Not Available

Send Command: Good
Command can be sent from terminal.

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode5Connection to PC
RS232C-USB
Conversion Cable(available in market)

ＰＣ

RS232C(D-Sub9)

Connector
SMP-05V-NC

GPS (available in market）
KGM‐810GRB1PS917※DC5V is supplied from IMU

DC power supply

Interface Cable
ＩＭＵ
EU8937N1001
EU8940N1001
TAG289 Interface Cable

DC 8－28V(Banana Plug)

Block Diagram of PC connection

8－28VDC
Banana Plug

D-Sub RS232 9 Pin Male

(Sato Parts)

Connected to PC via
RS232C-USB conversion

Connector: SMP-05V-NC
Connected to GPS Module

Interface Cable (P/N: EU8940N1001)

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode

6

1

IMU Simulator Installation / Setup

Installation Overview
Download the software “IMU Simulator” from our website.
http://mems.tamagawa-seiki.com/en/download/

COM Port setting
Supply the required voltage to the IMU, and connect the IMU to PC with a
specified cable. If you need to convert RS232C to USB, please use
RS232C-USEB conversion cable available in the market.
Ex) BUFFALO

BSUSRC06 series.

Confirm the COM port# which you are currently connected. Open the Device
Manager and check the port COM and LPT. If you are using a USB cable,"USB Serial Port #" is added. (In case you use the IMU for the first time, it
sometimes takes several minutes to display the COM port number.)This is the COM Port number.

If COM port number is not displayed, you may need to install RS232C-USB
driver. (If COM port number is displayed, RS232C-USB driver is alreadyinstalled in your PC. You do not need to re-install the driver.

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode7Application Setting
Click [Tools]→[Option] in Menu Bar. Please conduct each setting according to
the following procedure.
 Serial Communication
Select COM Port# where IMU is connected.
 Communication type
Select communication format to IMU device.
In this application, only BIN 50 format (50Hz) is applicable.
 Application Language selection
Select the language to be used for this application.
 Direction
Select the roll direction to be used for 2D monitor and 3D monitor.
CW: rotational direction of IMU is reversed on the monitor.
CCW: rotational direction of IMU is corresponded with the monitor.
 TimeSet the Coordinated Universal Time (UTC) of the GPS time displayed on
the 2D monitor.
Initial setting: UTC+9 (JST) Unit of data
Set Angular Velocity, Acceleration, and Attitude Angle as follows.
Angular Velocity:

200 [°/s]/ 215

Acceleration:

100 [m/s2]/ 215

Attitude Angle:

180 [°]/ 215

If you change the setting of Unit, the values are written in red. Please push
[Enter] to complete the setting and the values are changing color to black.

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode8Operation in 2D Monitor
Click [2D monitor] and the following monitor is displayed. If you connect
the IMU properly, angular velocity, acceleration and attitude angle aredisplayed.

Angular rate, acceleration and attitude angle

The operation in 2D Monitor is described as follows.


Start
Click 2D monitor in Menu Bar. Monitoring will start automatically.



Run
Click [GO] button. The monitor is displayed.



Stop
Click [Stop] button. The monitor is stopped.

Azimuthal Reset
Click [Azimuthal Reset]. The attitude angle is reset.

Offset Cancel
Click [Offset Cancel]. The offset cancel is processed.



Close 2D monitor
Click [×] button in caption bar and close 2D monitor.

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode9Operation in Graph Monitor
The real time data of angular velocity, acceleration and attitude angle from
IMU device are displayed on chart.

Display Scale
LOG time

The operation in Graph Monitor is described as follows.
1) [Time Axis Scale] → [Display Scale]: Set the time to be displayed on thescreen. From 1 sec to 10sec are applicable.
2) [Time Axis Scale] → [LOG Time]: Set the time to log. From 1 sec to21600 sec are applicable.
3) Click [Chart] button in Menu Bar and start logging on chart.
4) Logging is finished according to LOG time. Dialogue box is displayed on
the screen. If you want to finish logging before LOG time, click [LOG
Stop] in Menu Bar.
Display Scale is the time to be displayed on the screen. The graph will flow
faster if it is shorter period of time. The graph flows slowly if it is longer
period of time.
The acquired data is accumulated on the PC memory, so an error may occur
depending on the PC memory capacity when logging for a long time. The
acquired data will be lost if an error occurs, so it is recommended to use
another software InsMon for data acquisition.



EXCEL data export
After data logging, click [File] → [EXCEL Export] button in Menu Bar.
EXCEL starts automatically and chart data is exported.

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Support Manual for Leveling Mode10

2

InsMon Setup

How to setup the application
Download InsMon corresponding to the applicable model from the following
URL, and unzip it to desktop or My Documents, etc.
http://mems.tamagawa-seiki.com/en/download/
If you use GPS Module,
Please use InsMon_AU7684N1x00_TAG300N1x00_BIN Folder.
If you do not use GPS Module,
Please use InsMon_AU7684N1x00_TAG300N1x00_RAW Folder.



COM Port setting1) Click [Communication] → [Disconnect] and disconnect the communication.
2) Click [Communication] → [Setting] and select the COM port# which you
are using. (The instruction is referred to section 1.2 in this manual)
Please do not change any other settings except for COM port#.

3) Click [Communication]→[Connect]

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode11Measurement
1) Click [Monitor 3] and following screen is displayed. (Screen is different
depending on the model.) Press “Req.” button to start operation. If youconnect the IMU properly, angular velocity, acceleration and attitude angle
are displayed.

2) Click [OFC] and offset cancel is performed.
The accuracy of attitude angle can be improved by performing offset cancel
in static condition before measuring.
You can also change the Frequency from [>] button next to [Req.] button.
In BIN format, the maximum output is 100Hz. In RAW format, themaximum output is 200Hz. The frequency that can be received is thevalues obtained by dividing 200 by an integer. For example, 200, 100, 66,
50..., etc. If you input such as 150Hz, the value is automatically changed to100Hz. 75Hz is automatically changed to 66Hz. In case of less than 1Hz,
0.5Hz, 0.2Hz, and 0.1Hz are available.


Data Saving
1) Input the title of file and click the save checkbox. Only BIN file can be used.
2) Press the “Req.” button and start data reception. Press “Stop” button or uncheckthe checkbox when you finish data saving. The data is created in the same folder
as the exe file.
3) After measuring, you can convert a BIN file into csv file by converting Binary to
Text. You can also decimate the acquired data the by changing conversion rate,
initial setting of which is 1.

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode12Command Input(1) With IMU being connected, press [Stop] button in monitor 3.
(2) Press [Terminal] button and enter the command in the command field.
Press [Send] button to send commands. Checksum can be omittedEx) GPS Turn-on Command: $TSC,GPS,ON$TSC,GPS,ON

Command Input Field[Send] button

Command List Example
 Setting Initializing Command: GPS Switch-on Command:$TSC,ARST$TSC,GPS,ON Offset cancel command (time: 3 seconds): $TSC,OFC,3
 Alignment Compensation Command: $TSC,ALGN Power-on Offset Time Change Command: $TSC,AVET,0 (0 second) Leveling Constants Change Command: $TSC,LVLW,0.02 (0.02Hz)
Please refer to the specification for IMU for the other commands.

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Support Manual for Leveling Mode13

3Interface Cable
If customer prepares a harness to be connected to the IMU, please refer to thefollowing pin assignment and connector part. Please also check section 3.3 incase that customer use our interface cable sold separately.
3.1

AU7684 Harness connection
AU7684 J1 Connector Pin Assignment
Pin#
RemarkSignal
1A
8V～28V DC
Power Source
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B

Power Source 0V+5V
RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※
GND
BACK
PULSE

Connected to Signal GND

Pin#

7 6 5 4 3 2 1A
B
Diagram of AU7684 Harness
JST：LY10-DC14BR

Line#

J1(JST：LY20-14P-DT1-P1E-BR)

Power Source (8～28VDC) GND

CAN

RS232CGPS Module
Speed Pulse, Back Signal

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Support Manual for Leveling Mode

14

3.2

TAG300 Harness connection
TAG300 J1 Connector Pin Assignment
Pin#
SignalRemarkA

Power Source

8V～28V DC

B

Power Source 0V

Connected to Signal GND

C
D
E
F
G
H
J
K
L
M

+5V
RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※GND

for GPS Power-supply

RS232 Level
RS232 Level

J1(SOURIAU：UTS71412P)
Diagram of TAG300 Harness
SOURIAU：UTS6GN1412S or UTS6JC1412S
Power Source (8～28VDC) GND

CAN

RS232CGPS Module

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Support Manual for Leveling Mode

15

3.3

TAG289 Pin Assignment

TAG289 Pin Assignment
Connector
TJ-560-※DE-9SF-N

SMP-05-NC

LoosenWire

Pin#

SignalRemarkRed

Power Source

8V～28V DC

BlackPower Source 0V
RS232 TXD
RS232 RXDGND
PPS INGND
GPS TXGPS RX
+5V
CAN H
CAN L
Discrete Signal
Discrete Signal

Connected to Signal GND

2
3
5
1
2
3
4
5
Yellow
Yellow/White
Gray
Gray/White

RS232 Level
RS232 Level
GPS Power Source
Back Signal
Pulse CountPower Source (8～28VDC) GND

CAN

RS232CGPS Module
Back Signal
Pulse Counter

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Support Manual for Leveling Mode

16

3.4

Optional Interface Cable
We are preparing for an optional interface cable for AU7684 and TAG300.
There are 2 types of interface cable for each model. “N1000” is loose wire
type and “N1001” is connector type for external GPS module.

TAG289 Interface Cable is attached to the product.
AU7684 Interface Cable

TAG 300 Interface Cable

P/N: EU8937N1000

P/N: EU8940N1000

P/N: EU8937N1001
With GPS Module Connector
GPS: KGM-810GRB1_PS_917/
Position

P/N: EU8940N1001
With GPS Module Connector
GPS: KGM-810GRB1_PS_917/
Position

Note:
If there are unconnected pins, please protect the terminal part with a shrink tube sothat the cable terminal part is not short-circuited.

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Support Manual for Leveling Mode17

4

External GPS Module
The AU7684 series, TAG300 series and TAG289 series can output GPS signal(latitude, longitude, altitude, direction, speed, UTC time, etc.) by connecting a
GPS module. In addition, the GPS speed and GPS direction are utilized for the
calculation to reduce Attitude and Heading angle errors.

4.1

Applicable GPS Module
P/N: KGM-810GRB1_PS_917 manufactured by Position
Seller:Yukihide Tanaka (Mr.)
CHIYODA ELECTRONIC CO., LTD.
Kanto Sales Office 4-1-20 9F, Higashishukugo, Utsunomiya Shi, Tochigi
Ken, 321-0953, Japan
E-Mail：yu-tanaka@cec-chiyoda.co.jp
TEL： +81-28-637-3900 FAX： +81-28-637-3903
VCC（RED）
TX（GREEN）
Length：5000mm±250mm
RX（YELLOW）
GND（BLACK）
1PPS（WHITE）

Connector SMR-05V-N（JST）

Dimension：44.0×49.8×t 14.3mm

The connection with other GPS module such as C099-F9P/ u-blox can be customized.
For inquiries about availability, please submit the inquiry from our website.
https://mems.tamagawa-seiki.com/en/contact/form/

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Support Manual for Leveling Mode

18

4.2

Connection of AU7684 & External GPS Module (KGM-810GRB1_PS_917)
Please connect the GPS according to the following table.
AU7684 J1 Connector Pin Assignment
Pin#
Connection to GPS Module
Signal
1APower Source

1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B

Power Source 0V+5V
RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※
GND
BACK
PULSE

→Vcc of GPS→Rx of GPS→Tx of GPS→1PPS of GPS→GND of GPS

When you use EU8937N1001, please follow the instruction below.

Connector: SMP-05V-NC
EU8937N1001 (AU7684 Interface Cable)

Connected to GPS Module

You need to make the setting of IMU to validate GPS. Restart the IMU after
sending a command to enable the GPS to the IMU using one of the following
methods.
 Via RS232C Refer to specification P22
Ex) Send Command “$ TSC, GPS, ON” via InsMon
 Via CAN Refer to specification P40 (GPS Valid/ Invalid)
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Support Manual for Leveling Mode

19

4.3

Connection of ATG300 & External GPS Module
Please connect the GPS according to the following table
TAG300 J1 Connector Pin Assignment (SOURIAU:UTS71412P)
Pin#

SignalRemarkA

Power Source

B

Power Source 0V

C+5V→Vcc of GPS

D
E
F
G
H
J
K
L
M

RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※GND→Rx of GPS→Tx of GPS→1PPS of GPS→GND of GPS

When you use EU8940N1001, please follow the instruction below.

EU8940N1001 (TAG300 Interface Cable)
EU8940N1001 (TAG300 Interface Cable)

Connector: SMP-05V-NC
Connected to GPS Module

You need to make the setting of IMU to validate GPS. Restart the IMU after
sending a command to enable the GPS to the IMU using one of the following
methods.
 Via RS232C Refer to specification P22
Ex) Send Command “$ TSC, GPS, ON” via InsMon
 Via CAN Refer to specification P39 (GPS Valid/ Invalid)

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Support Manual for Leveling Mode

20

4.4

Connection of TAG289 & External GPS Module

Please connect the GPS according to the following table
TAG289 Pin Assignment
Connector
TJ-560-※DE-9SF-N

SMP-05-NC

LoosenWire

Pin#

SignalRemarkRed

Power Source

8V～28V

Black

Power Source 0V

Connected to Signal GND

DC

2
3
5

RS232 TXD
RS232 RXD
GND

1

PPS IN→1PPS of GPS

2

GND→GND of GPS

3

GPS TX→Rx of GPS

4

GPS RX→Tx of GPS

5+5V→Vcc of GPS

CAN H
CAN L
Discrete Signal
Discrete Signal

Back Signal
Pulse Count

Yellow
Yellow/White
Gray
Gray/White

When you use EU8940N1001, please follow the instruction below.

SMP-05V-NC Connector

TAG289 Interface Cableis connected to GPS Module

You need to make the setting of IMU to validate GPS. Restart the IMU after
sending a command to enable the GPS to the IMU using one of the following
methods.


Via RS232C Refer to specification P22
Ex) Send Command “$ TSC, GPS, ON” via InsMon



Via CAN Refer to specification P40 (GPS Valid/ Invalid)

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for Leveling Mode21

5Command List
No.

CommandFunction

Initial Setting

Ref

1

RAW

Raw data output

－

－

2

BIN

BIN data output

－

－

3

SAV

Save current setting

－

P21

4

OFC

Offset cancel

－

P22

5

HRST

Azimuth angle reset

－

－

6

SPD

Vehicle Speed input

－

－

7

VER

Software version display

－

－

8

CAN

CAN communication setting

500kbps 200Hz

－

9

FREQ

Update cycle setting

200Hz

－

10

RFRQ

Update cycle display

－

－

11

BIAS

Display the value with offset cancel

OFF

P22

12

AVET

Startup offset time setting

5 sec

P23

13

YAWF

Yaw dead zone setting

0.3deg/sec

P24

14

LVLW

Leveling calculation setting

0.1Hz

P24

15

LVLR

Leveling calculation display

－

P25

16

CAL

Calibration

－

P23

＊

17

RCAL

Calibration Reset

－

P23

＊

18

ALGN

Alignment compensation

－

P25

＊

19

RALN

Alignment compensation reset

－

P25

＊

20

AXIS

Axis setting

1:Z Axis downward

P26

＊

21

IDN

CANID（standard ID）setting

－

－

＊

22

JIDN

CANID（extension ID）setting

－

－

＊

23

CNID

CAN format setting

0:Standard, 1: Extended

－

＊

24

CNED

CAN Endianness setting

1:Big endianness

－

＊

25

CNSW

CAN output valid / invalid

-

－

＊

26

GPS

GPS valid / invalid

0:GPS invalid

－

＊

27

SVEL

Vehicle speed input setting

0:GPS or CAN/RS232

－

＊

28

PLSE

Vehicle speed pulse setting

4 pulse / 1 round

－

＊

29

RPM

Vehicle speed RPM setting

637 rpm

－

＊

30

BACK

Back signal setting

OFF: Back signal off

－

＊

31

ARST

Initialization

－

P27

＊

＊

＊

＊

For items with ＊ on the right side of the table, please turn off the device
for about 1 second and restart the power to reflect the setting change.

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Support Manual for Leveling Mode

22

SAV Command (Save current setting)
You can save the output status of IMU by this command. If SAV command isconducted while data is being output, IMU outputs the data without RAW data
request from the next startup, and the output cycle will be the same as when the
SAV command is executed.
■Usage■Setting
Command：$TSC,SAV*2C<CR><LF>
Response：ACK／NAK
Request for RAW data output at
your desirable output cycle.
Enter the SAV command, andconfirm the ACK response.

From the next startup, IMU
outputs the data at the same
cycle as when the SAV commandis executed.
The SAV command is not initialized by ARST command (initialization). It is possible
to return to the initial setting by resending SAV command with IMU stopped.

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Support Manual for Leveling Mode

23

OFC Command（Offset cancel）
With this command, it is possible to calculate the average value of angularvelocity error (bias) in specified period of time and offset the bias error from thenext calculation. By setting BIAS command (display the value with offset
cancel), offset data is displayed.
OFC Command
Command: $TSC,OFC,t*CC<CR><LF> (t: Offset time [sec])
Response: None（RAW/BIN Status change）/NAK
BIAS Command
Command: $TSC,BIAS,a*CC<CR><LF> (a：ON to reflect offset / OFF )Response: ACK / NAK
In case that offset cancel is not conducted:
Angular Velocity: Z-axis

The deviation from the ideal
center (bias) is averaged by
OFC command.

In case that offset cancel is conducted:
Angular Velocity: Z-axis

By turning BIAS commandon, the value with offset
cancel is displayed.

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Support Manual for Leveling Mode

24

AVET Command (Startup offset time setting)
The averaging time of offset cancel can be changed by AVET command. In theinitial setting, offset cancel is conducted for 5 seconds at startup. During offset
cancel, IMU should not be moved. If you cannot secure a static condition, forexample in a ship, offset cancel may not be executed correctly. In that case, it isrecommended to set the averaging time to zero. In addition, the value of offset
can be saved by CAL command. Therefore, you can use CAL command in static
condition, and use it in combination with AVET command.
AVET Command
Command: $TSC,AVET,a*CC<CR><LF> (a: Average time[sec]) Range (0～60sec)
Response: ACK / NAK
CAL Command
Command: $TSC,CAL*26<CR><LF>
Response: ACK / NAK

CAL command is conducted instatic condition. Averaging
time is set to be zero.
By using the CAL command,
offset cancellation can be usedeven where static condition is
not secured such as a ship.

* CAN command can be reset by sending RCAL command (Calibration Reset).

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YAWF command (Yaw dead zone setting)In order to suppress the azimuth drift in static condition, Yaw dead zone can be
set. Within the dead zone, the Z-axis angular velocity input is judged to be zeroand is not reflected in the calculation of the azimuth. It is recommended tolower the setting value when you want to measure the low speed range.
Command: $TSC,YAWF, a*CC<CR><LF> (a: Dead Zone:[deg/sec])
Response: ACK / NAK
Initial Setting (Dead zone 0.3°/sec)

Angular Velocity: Z-axis (Static)

Z-axis of angular velocity
within the dead zone isrecognized as zero, and is
not reflected in thecalculation of yaw angle.

LVLW Command (Leveling calculation setting）
IMU calculates the attitude angle in 2 ways; the one is to use acceleration forthe movement in lower frequency, the other is to use angular velocity for the
movement in higher frequency. You can change the calculation setting to besuitable for your device by this command. The leveling time constant is set to
0.1 in the initial setting. It is recommended to increase the constant when
acceleration / deceleration and disturbance are small, and to decrease theconstant when acceleration / deceleration and disturbance are large. Pleasecontact our sales representative for more details.
Command: $TSC,LVLW,a*CC<CR><LF> (a: Leveling constant[Hz])Response: ACK / NAK

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Support Manual for Leveling Mode

26

Gain

Frequency

Leveling ConstantGain (Acceleration)
Gain (Angular Velocity)* Applied leveling constant is confirmed by sending LVLR command(Levelingcalculation display).
ALGN Command (Alignment compensation)
If there is a mounting error or tilt on the IMU, that position can be set as
horizontal attitude. Realignment may not be performed correctly if the previousalignment value is stored. Therefore, please conduct RALN (reset alignment)command and restart IMU before realignment.
Command: $TSC,ALGN*6C<CR><LF>
Response: ACK / NAK
Usage of Alignment

Axis

Even if the mounting
surface is tilted, it can be set
as horizontal surface.

Mounting surface

Horizontal surface
By sending RALN command (Alignment compensation reset), it is possible toreturn to the initial setting.

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Support Manual for Leveling Mode27

AXIS Command (Axis setting)
The axis definition can be changed by this command. In case you need to install
IMU in a vertical direction, please send this command. The definition of axis isspecified as follows.
Command: $TSC,AXIS,a*CC<CR><LF>
a: Axis setting
1: Positive Z-axis points down into the ground (Initial setting)
2: Positive X-axis is reverted to Positive Z-axis.
3: Positive Y-axis is reverted to Positive Z-axis.
1: Positive Z-axis points down into the ground.

X

Z

Y

2: Positive X-axis is reverted to Positive Z-axis.
X

Z

Y

3: Positive Y-axis is reverted to Positive Z-axis.
X

Z

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Support Manual for Leveling ModeY

28

ARST Command (Initialization)
This command resets all settings except for SAV command. It will be validated
from the next startup.

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